Fix rmw_take_serialized. (backport #881)#885
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* Fix rmw_take_serialized. rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path. The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path. Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Feedback from review. Signed-off-by: Chris Lalancette <clalancette@gmail.com> --------- Signed-off-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit fa15754)
MiguelCompany
approved these changes
May 6, 2026
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Description
rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and
rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path.
The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path.
This should be merged at approximately the same time as ros2/system_tests#592 , #880 , and #879
Is this user-facing behavior change?
No.
Did you use Generative AI?
Yes, Claude Opus 4.7
Additional Information
This should be backported to Lyrical.
This is an automatic backport of pull request #881 done by Mergify.